Is it forbidden to feel shy when someone learns of one's voluntary worship?

Performing acts of worship for Allah is a blessing and an honor for the believer. What the questioner experiences as shyness is from the whisperings of Satan, aiming to deter him from obeying Allah. Therefore, he must preserve his worship and not abandon it out of fear of shyness, because abandoning an action for the sake of people is showing off (riya').